DE102015216900A1 - Motor vehicle and parking space for motor vehicles and communication system - Google Patents

Motor vehicle and parking space for motor vehicles and communication system

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Publication number
DE102015216900A1
DE102015216900A1 DE102015216900.6A DE102015216900A DE102015216900A1 DE 102015216900 A1 DE102015216900 A1 DE 102015216900A1 DE 102015216900 A DE102015216900 A DE 102015216900A DE 102015216900 A1 DE102015216900 A1 DE 102015216900A1
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DE
Germany
Prior art keywords
communication
communication device
motor vehicle
device
according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
DE102015216900.6A
Other languages
German (de)
Inventor
Stefan Nordbruch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to DE102015216900.6A priority Critical patent/DE102015216900A1/en
Publication of DE102015216900A1 publication Critical patent/DE102015216900A1/en
Application status is Pending legal-status Critical

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Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/14Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/142Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces external to the vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06Automatic manoeuvring for parking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027Parking aids, e.g. instruction means
    • B62D15/0285Parking performed automatically
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00Arrangements for detecting or preventing errors in the information received
    • H04L1/22Arrangements for detecting or preventing errors in the information received using redundant apparatus to increase reliability
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00Application independent communication protocol aspects or techniques in packet data networks
    • H04L69/14Multichannel or multilink protocols
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/91Radar or analogous systems specially adapted for specific applications for traffic control
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G08G1/096811Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/14Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/14Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/148Management of a network of parking areas

Abstract

The invention relates to a motor vehicle, comprising: a redundantly designed communication system, a first communication device for communicating via a first wireless communication network, a second communication device for communicating via a second wireless communication network, and a control device for redundantly operating the first communication device and second communication device. The invention further relates to a parking space for motor vehicles and a communication system.

Description

  • The invention relates to a motor vehicle, a parking space for motor vehicles and a communication system.
  • State of the art
  • The publication DE 10 2012 222 562 A1 shows a system for managed parking areas for transferring a vehicle from a start position to a destination position. In this transfer, communication with the vehicle is necessary, for example, to transmit driving commands that the vehicle is to carry out to the vehicle.
  • In general, in a fully automated (autonomous) valet parking a communication to the vehicle is necessary. A so-called fully automated valet parking refers to an automatic parking process within which the vehicle is automatically parked or disengaged without a driver having to drive the vehicle to the appropriate parking position.
  • With the so-called fully automated valet parking there are several possibilities to carry out. For example, it is provided that the vehicle is remotely controlled. For example, it is provided that the vehicle drives autonomously. For example, a hybrid form of the two embodiments mentioned above is provided. This means that the vehicle is remotely controlled, for example, one section and another section autonomously drives.
  • In order to carry out the fully automated valet parking, ie to carry out the automatic parking operation, it is necessary to transmit driving commands to the vehicle, for example, or a digital map of the parking space so that the vehicle can autonomously navigate within the parking space based on the digital map.
  • Disclosure of the invention
  • The object underlying the invention is to provide an efficient concept which enables efficient communication between a motor vehicle and a parking space.
  • This object is achieved by means of the subject matter of the independent claims. Advantageous embodiments of the invention are the subject of each dependent subclaims.
  • In one aspect, there is provided a motor vehicle comprising:
    • - A redundant communication system, the
    • A first communication device for communicating via a first wireless communication network,
    • A second communication device for communicating via a second wireless communication network and
    • - Has a control device for redundantly operating the first communication device and the second communication device.
  • In another aspect, there is provided a parking lot for motor vehicles, comprising:
    • - A redundant communication system, the
    • A first communication device for communicating via a first wireless communication network,
    • A second communication device for communicating via a second wireless communication network and
    • - Has a control device for redundantly operating the first communication device and the second communication device.
  • According to another aspect, there is provided a communication system comprising:
    • A first communication device for communicating via a first wireless communication network,
    • A second communication device for communicating via a second wireless communication network and
    • - A control device for redundantly operating the first communication device and the second communication device.
  • The communication system is according to one embodiment, the redundant communication system of the motor vehicle and / or the parking lot. Features for the redundant communication system of the motor vehicle or the parking lot apply analogously to the communication system.
  • The invention therefore includes, in particular, and among other things, the idea of providing redundancy in the communication between the motor vehicle and the parking space insofar as two communication devices are provided, each of which can communicate via a wireless communication network. If one of the two communication devices should fail or malfunction, respectively, the other of the two communication devices may be used for communication. As a result, in particular the technical advantage causes efficient communication between a parking lot and a motor vehicle is enabled.
  • The invention therefore includes, in particular and among other things, the idea of providing the motor vehicle or the parking space with a redundantly designed communication system. Due to the redundant communication system, reliable and robust communication between the motor vehicle and the parking space can be ensured. As a result, in particular, the technical advantage is brought about that an efficient communication between the motor vehicle and the parking space can be carried out.
  • If the communication system, in particular the redundantly designed communication system, is described above and below in connection with the parking space or the motor vehicle, then it is noted that the corresponding communication systems are also disclosed on their own, ie without the motor vehicle or without the parking space.
  • The fact that the communication system is designed to be redundant means in particular that, for example, if the first communication device fails, the second communication device can take over the communication or vice versa. For example, upon detection of an error in the communication link between the motor vehicle and the parking space, the second communication device is switched over the first wireless communication network so that the communication between the motor vehicle and the parking space is performed via the second wireless communication network. Thus, if there are disturbances in the first wireless communication network, the second wireless communication network is still advantageously available in a redundant manner in order to communicate therewith.
  • In particular, communicating within the meaning of the present invention comprises transmitting or receiving data via the corresponding wireless communication network.
  • Data comprise, for example, the following data: map data of a digital map, travel command data of one or more travel commands that the motor vehicle is to perform, position and / or speed data of further motor vehicles or persons located within the parking lot, target trajectory data for a target trajectory comprising the Motor vehicle to leave within the parking lot, target position data of a target position, which is to approach the motor vehicle.
  • Data thus generally includes data relevant to performing an automatic parking operation. In an automatic parking operation, the motor vehicle drives without a driver from a start position to a parking position and turns off at the parking position. In an automatic parking operation, the motor vehicle travels from the parking position to a destination position at which a person can pick up or take over the motor vehicle. In an automatic parking operation, it is provided that the motor vehicle drives autonomously or is remotely controlled. In particular, it is provided in an automatic parking process that the motor vehicle is remotely controlled a part of a distance and autonomously drives a further section. This means that in the context of the automatic parking process, the motor vehicle drives without a driver within the parking lot. So "leaderless" includes "autonomous" and / or "remote controlled".
  • According to one embodiment, a wireless communication network, that is to say the first or the second communication network, in one embodiment comprises a WLAN communication network and / or a mobile radio network and / or a LoRa communication network. A LoRa communication network refers to a communication network according to the LoRa standard. "LoRa" stands for "low-power wide-range communication".
  • According to one embodiment, a communication via the communication network, ie via the first or the second communication network respectively, is encrypted.
  • The wording "respectively" includes in particular the wording "and / or".
  • A parking space in the sense of the present invention serves as a storage area for motor vehicles. In particular, the car park forms a continuous area that has several parking spaces (in the case of a car park on private land) or parking stands (in the case of a car park on public land). The parking stands or parking spaces are therefore parking areas. The parking lot is designed according to one embodiment as a parking garage. The parking lot is designed according to a further embodiment as a parking garage. The parking areas can also be referred to as parking positions.
  • The motor vehicle is thus designed according to an embodiment to perform an automatic parking operation. Such a motor vehicle may be referred to as an AVP motor vehicle. Here "AVP" stands for "Automated Valet Parking" and can be translated with automatic parking.
  • In one embodiment, the first wireless communication network and the second wireless communication network are identical. That is, for example, the first wireless communication network and the second wireless communication network are each a WLAN communication network or a mobile radio network or a LoRa communication network.
  • In one embodiment, the first wireless communication network and the second wireless communication network are two different communication networks. For example, the first wireless communication network is a WLAN communication network and the second communication network is a cellular network or vice versa.
  • According to one embodiment, it is provided that the first communication device and the second communication device are designed as separate communication devices.
  • As a result, the technical advantage in particular that a simple spatial separation between the two communication devices can be effected. In particular, the redundancy can thereby be produced efficiently. This minimizes in particular the risk that they may be subject to a common disorder.
  • According to another embodiment, it is provided that one of the two communication devices is comprised by a main unit of an infotainment system.
  • This has the technical advantage in particular that the main unit, which can also be referred to as a head unit, can be used efficiently. As a rule, this already includes a communication device. That is, advantageously, the already existing communication device of the main unit is used efficiently. This communication device is, for example, a mobile radio communication device. Thus, no additional communication device is needed.
  • According to a further embodiment, it is provided that one of the two communication devices is comprised by a vehicle module for performing an automatic parking operation.
  • As a result, the technical advantage, in particular, is achieved that such a vehicle module already has its own communication device analogous to the head unit. The corresponding advantages are analogous to the head unit.
  • According to one embodiment, it is provided that the first communication device and the second communication device are covered by a common communication device.
  • As a result, the technical advantage in particular that due to the spatial combination of the two communication devices into a common communication device, an efficient installation of the communication device in the motor vehicle is made possible.
  • In a common communication device is provided in particular that each of the two communication devices has its own electrical interface for a power supply. This means that the two communication devices can work independently of each other.
  • According to one embodiment, it is provided that the first communication device and the second communication device each comprise a plurality of transceiver units spatially distributed within the parking space.
  • As a result, in particular the technical advantage is brought about that an efficient radio coverage within the parking space is made possible.
  • A transceiver unit in the sense of the present invention comprises in particular one or more receivers and / or one or more transmitters, respectively, for receiving and for transmitting via the corresponding communication network.
  • According to one embodiment, it is provided that the respective transceiver units of the first communication device and the second communication device are at least partially designed as separate communication devices.
  • As a result, the technical advantage in particular that due to the spatial separation efficient redundancy can be effected. This minimizes in particular the risk that they may be subject to a common disorder.
  • According to another embodiment, it is provided that the respective transceiver units of the first communication device and the second communication device are at least partially each formed as a common communication device.
  • As a result, in particular the technical advantage is brought about that an efficient assembly or arrangement of the transceiver units within the parking space is made possible.
  • In the case of a common communication device, provision is made in particular for each of the transceiver units to have its own electrical interface for a voltage supply. The respective transceiver units thus function independently of each other.
  • The invention will be explained in more detail below with reference to preferred embodiments. Show here
  • 1 a motor vehicle,
  • 2 a parking lot for motor vehicles and
  • 3 another parking lot for motor vehicles, wherein a motor vehicle is located within the parking lot.
  • 1 shows a motor vehicle 101 ,
  • The car 101 includes:
    • - A redundant communication system 103 , the
    • A first communication device 105 for communicating via a first wireless communication network,
    • A second communication device 107 for communicating via a second wireless communication network and
    • - a control device 109 for redundantly operating the first communication device and the second communication device.
  • 2 shows a parking lot 201 for motor vehicles.
  • The parking lot 201 includes:
    • - A redundant communication system 203 , the
    • A first communication device 205 for communicating via a first wireless communication network,
    • A second communication device 207 for communicating via a second wireless communication network and
    • - a control device 209 for redundantly operating the first communication device and the second communication device.
  • In one embodiment, the first or the second communication network is constructed within the parking lot.
  • 3 shows a parking lot 301 within which a motor vehicle 303 moves.
  • The car 303 includes a redundant communication system 305 , The redundant communication system 305 of the motor vehicle 303 includes a first communication device 307 for communication over a WLAN communication network. The communication system 305 of the motor vehicle 303 further comprises a second communication device 309 for communicating via a mobile radio communication network.
  • The communication system 305 of the motor vehicle 303 further comprises a controller 311 for redundantly operating the first communication device 307 and the second communication device 309 ,
  • The parking lot 301 includes a redundant communication system 313 , The redundant communication system 313 of the parking lot 301 includes a first communication device 315 for communicating over the WLAN communication network. The redundant communication system 313 of the parking lot 301 further comprises a second communication device 317 for communicating via the mobile radio communication network.
  • So that means that the motor vehicle 303 and the parking lot 301 can communicate with each other over both wireless and mobile. This is how the first communication device communicates 307 of the motor vehicle 303 via WLAN with the first communication device 315 of the parking lot. The second communication device 309 of the motor vehicle 303 communicates via mobile radio with the second communication device 317 of the parking lot 301 ,
  • Thus, therefore, two communication channels are created, which ensure a redundancy. For example, it is provided that one of the two communication channels is a main communication channel. For example, it is provided that the other communication channel is used only when the main communication channel fails or is disturbed. For example, a failure and a malfunction may be due to a failure or malfunction in one of the corresponding communication devices.
  • In such case, the corresponding controller then switches the communication from the main communication channel to the other communication channel.
  • Thus, according to a general embodiment, it is provided that the control device (of the motor vehicle or of the parking space) is designed, in the event of a fault, to switch over a communication which is carried out by means of one of the two communication devices to the other of the two communication devices, so that the communication by means of the other the two communication devices can be continued.
  • An error case includes, for example: a failure and / or a malfunction in the communication that may or may, for example, have a failure or a malfunction in one of the corresponding communication devices.
  • In particular, the invention therefore provides an efficient technical concept which can solve or eliminate a problem in communication in the context of an automatic parking process. A fundamental idea according to the invention can be seen, in particular, in the use of a redundant type of communication in the event of a fault. This means, for example, that there is a main type of communication, for example Wifi / WLAN, and that there is a second type of communication that is used in the event of an error of the first type of communication. In the present case, for example, it is communicated via mobile radio if there should be an error in the WLAN communication.
  • According to one embodiment, the types of communication, ie the communication networks are different. For example, one of the wireless communication networks is a Wifi / WLAN network. The other communication network is a mobile radio communication network. In another embodiment, the two types of communication, ie the two wireless communication networks, are the same.
  • According to one embodiment, for the purpose of redundancy, at least two different transmitters and at least two different receivers are provided in the corresponding communication device. This means that the communication device (the first respectively the second) respectively has at least two transmitters and in each case at least two receivers respectively. In this way, a redundancy can be ensured.
  • Preferably, the types of communication and in the hardware and / or software are redundant. This means, for example, that there are two different communication modules in the vehicle (separate communication devices) and in the infrastructure, ie within the parking lot. This means that in a further embodiment, the types of communication in the hardware and software on both sides (motor vehicle and parking) are separated.
  • In one embodiment, it is provided that the two communication devices are covered by a common communication device. In this case, according to one embodiment, the common communication device is designed such that in the case of a fault (for example no current and / or no reception) in one of the communication devices, the other communication device can continue to function or function.
  • According to one embodiment, the communication devices are each integrated in already existing in the motor vehicle systems or devices. For example, one of the communication devices in the main unit (also called head unit) may be integrated. For example, then the other communication device is integrated in the vehicle module for performing an automatic parking operation. Such a vehicle module may also be referred to as an "AVP function module".
  • The advantage according to the invention can be seen, in particular, in a robust and stable communication between the parking space and the motor vehicle.
  • In one embodiment, the parking lot includes a parking management server configured to control and / or coordinate an automatic parking operation. The data necessary for this purpose are made available to the motor vehicle via the redundantly designed communication system.
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
  • Cited patent literature
    • DE 102012222562 A1 [0002]

Claims (12)

  1. Motor vehicle ( 101 . 303 ), comprising: - a redundant communication system ( 103 . 305 ) - a first communication device ( 105 . 307 ) for communicating via a first wireless communication network, - a second communication device ( 107 . 309 ) for communicating via a second wireless communication network, and - a control device ( 109 . 311 ) for redundantly operating the first communication device ( 105 . 307 ) and the second communication device ( 107 . 309 ) having.
  2. Motor vehicle ( 101 . 303 ) according to claim 1, wherein the first communication device ( 105 . 307 ) and the second communication device ( 107 . 309 ) are formed as separate communication devices.
  3. Motor vehicle ( 101 . 303 ) according to claim 2, wherein one of the two communication devices is comprised by a main unit of an infotainment system.
  4. Motor vehicle ( 101 . 303 ) according to claim 2 or 3, wherein one of the two communication devices is comprised by a vehicle module for performing an automatic parking operation.
  5. Motor vehicle ( 101 . 303 ) according to claim 1, wherein the first communication device ( 105 . 307 ) and the second communication device ( 107 . 309 ) are included by a common communication device.
  6. Motor vehicle ( 101 . 303 ) according to one of the preceding claims, wherein the control device is designed, in the event of a fault, to switch a communication which is carried out by means of one of the two communication devices to the other of the two communication devices, so that the communication can be continued by means of the other of the two communication devices.
  7. Parking spot ( 201 . 301 ) for motor vehicles ( 101 . 303 ), comprising: - a redundant communication system ( 203 . 313 ) - a first communication device ( 205 . 315 ) for communicating via a first wireless communication network, - a second communication device ( 207 . 317 ) for communicating via a second wireless communication network, and - a control device ( 209 . 319 ) for redundantly operating the first communication device ( 205 . 315 ) and the second communication device ( 207 . 317 ) having.
  8. Parking spot ( 201 . 301 ) according to claim 7, wherein the first communication device ( 205 . 315 ) and the second communication device ( 207 . 317 ) each comprise a plurality of spatially distributed transceiver units within the parking lot.
  9. Parking spot ( 201 . 301 ) according to claim 7 or 8, wherein the respective transceiver units of the first communication device ( 205 . 315 ) and the second communication device ( 207 . 317 ) are at least partially each formed as separate communication devices.
  10. Parking spot ( 201 . 301 ) according to one of claims 7 to 9, wherein the respective transceiver units of the first communication device ( 205 . 315 ) and the second communication device ( 207 . 317 ) are at least partially each formed as a common communication device.
  11. Parking spot ( 201 . 301 ) according to one of claims 7 to 10, wherein the control device ( 209 . 319 ) is formed, in the event of a fault, a communication that is performed by means of one of the two communication devices to switch to the other of the two communication devices, so that the communication can be continued by means of the other of the two communication devices.
  12. Communication system ( 203 . 313 ), comprising: - a first communication device ( 205 . 315 ) for communicating via a first wireless communication network, - a second communication device ( 207 . 317 ) for communicating via a second wireless communication network, and - a control device ( 209 . 319 ) for redundantly operating the first communication device ( 205 . 315 ) and the second communication device ( 207 . 317 ).
DE102015216900.6A 2015-09-03 2015-09-03 Motor vehicle and parking space for motor vehicles and communication system Pending DE102015216900A1 (en)

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DE102015216900.6A DE102015216900A1 (en) 2015-09-03 2015-09-03 Motor vehicle and parking space for motor vehicles and communication system

Applications Claiming Priority (6)

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DE102015216900.6A DE102015216900A1 (en) 2015-09-03 2015-09-03 Motor vehicle and parking space for motor vehicles and communication system
PCT/EP2016/065831 WO2017036637A1 (en) 2015-09-03 2016-07-05 Motor vehicle and parking space for motor vehicles and communication system
US15/752,435 US10388163B2 (en) 2015-09-03 2016-07-05 Motor vehicle and parking lot for motor vehicles as well as communications system
EP16735656.7A EP3345363A1 (en) 2015-09-03 2016-07-05 Motor vehicle and parking space for motor vehicles and communication system
CN201680051022.8A CN107950011A (en) 2015-09-03 2016-07-05 Motor vehicle and the parking lot for motor vehicle and communication system
JP2018511647A JP2018533259A (en) 2015-09-03 2016-07-05 Cars, parking lots for cars, and communication systems

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DE102015216900A1 true DE102015216900A1 (en) 2017-03-09

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US (1) US10388163B2 (en)
EP (1) EP3345363A1 (en)
JP (1) JP2018533259A (en)
CN (1) CN107950011A (en)
DE (1) DE102015216900A1 (en)
WO (1) WO2017036637A1 (en)

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US20190012916A1 (en) 2019-01-10

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